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AP_LeakDetector: add manual leak-pin selection

This commit is contained in:
Paul Blum 2022-10-20 11:09:07 -04:00 committed by Willian Galvani
parent 38a9269822
commit b876dff441
2 changed files with 50 additions and 16 deletions
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49
libraries/AP_LeakDetector/AP_LeakDetector.cpp
View File

@ -19,6 +19,14 @@ const AP_Param::GroupInfo AP_LeakDetector::var_info[] = {
// @User: Standard
AP_GROUPINFO("1_LOGIC", 2, AP_LeakDetector, _default_reading[0], 0),
// @Param: 1_TYPE
// @DisplayName: Leak detector pin type (analog/digital)
// @Description: Enables leak detector 1. Use this parameter to indicate the signal type (0:analog, 1:digital) of an appropriately configured input pin, then specify its pin number using the LEAK1_PIN parameter. NOT FOR USE by default with Pixhawk, Pixhawk 4 or Navigator flight controllers.
// @Values: -1:Disabled,0:Analog,1:Digital
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("1_TYPE", 7, AP_LeakDetector, _type[0], DISABLED),
#if LEAKDETECTOR_MAX_INSTANCES > 1
// @Param: 2_PIN
// @DisplayName: Pin that leak detector is connected to
@ -34,6 +42,14 @@ const AP_Param::GroupInfo AP_LeakDetector::var_info[] = {
// @Values: 0:Low,1:High
// @User: Standard
AP_GROUPINFO("2_LOGIC", 4, AP_LeakDetector, _default_reading[1], 0),
// @Param: 2_TYPE
// @DisplayName: Leak detector pin type (analog/digital)
// @Description: Enables leak detector 2. Use this parameter to indicate the signal type (0:analog, 1:digital) of an appropriately configured input pin, then specify its pin number using the LEAK2_PIN parameter. NOT FOR USE by default with Pixhawk, Pixhawk 4 or Navigator flight controllers.
// @Values: -1:Disabled,0:Analog,1:Digital
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("2_TYPE", 8, AP_LeakDetector, _type[1], DISABLED),
#endif
#if LEAKDETECTOR_MAX_INSTANCES > 2
@ -51,6 +67,14 @@ const AP_Param::GroupInfo AP_LeakDetector::var_info[] = {
// @Values: 0:Low,1:High
// @User: Standard
AP_GROUPINFO("3_LOGIC", 6, AP_LeakDetector, _default_reading[2], 0),
// @Param: 3_TYPE
// @DisplayName: Leak detector pin type (analog/digital)
// @Description: Enables leak detector 3. Use this parameter to indicate the signal type (0:analog, 1:digital) of an appropriately configured input pin, then specify its pin number using the LEAK3_PIN parameter. NOT FOR USE by default with Pixhawk, Pixhawk 4 or Navigator flight controllers.
// @Values: -1:Disabled,0:Analog,1:Digital
// @User: Advanced
// @RebootRequired: True
AP_GROUPINFO("3_TYPE", 9, AP_LeakDetector, _type[2], DISABLED),
#endif
AP_GROUPEND
@ -72,22 +96,27 @@ void AP_LeakDetector::init()
switch (_pin[i]) {
#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV3 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_CHIBIOS_FMUV5)
case 50 ... 55:
_state[i].instance = i;
_drivers[i] = new AP_LeakDetector_Digital(*this, _state[i]);
break;
case 13 ... 15:
_state[i].instance = i;
_drivers[i] = new AP_LeakDetector_Analog(*this, _state[i]);
_type[i].set_default(ANALOG);
break;
case 50 ... 55:
_type[i].set_default(DIGITAL);
break;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
case 27:
_state[i].instance = i;
_drivers[i] = new AP_LeakDetector_Digital(*this, _state[i]);
_type[i].set_default(DIGITAL);
break;
#endif
default:
_drivers[i] = NULL;
}
switch(_type[i]) {
case ANALOG:
_state[i].instance = i;
_drivers[i] = new AP_LeakDetector_Analog(*this, _state[i]);
break;
case DIGITAL:
_state[i].instance = i;
_drivers[i] = new AP_LeakDetector_Digital(*this, _state[i]);
break;
}
}

7
libraries/AP_LeakDetector/AP_LeakDetector.h
View File

@ -45,7 +45,12 @@ private:
bool _status; // Current status, true if leak detected, false if all sensors dry
uint32_t _last_detect_ms;
AP_Int8 _type[LEAKDETECTOR_MAX_INSTANCES]; // Analog, Digital, Mavlink
enum _signal_types {
DISABLED=-1,
ANALOG=0,
DIGITAL=1
};
AP_Int8 _type[LEAKDETECTOR_MAX_INSTANCES]; // Signal type configured at the input pin (analog, digital, disabled)
AP_Int8 _pin[LEAKDETECTOR_MAX_INSTANCES]; // Pin that detector is connected to
AP_Int8 _default_reading[LEAKDETECTOR_MAX_INSTANCES]; // Default reading when leak detector is dry
};